LAPORAN PROJECT UAS

KELOMPOK : ANTI KONTAK

NAMA : - ADYTIA ADJI HUSEINI

- ASRUL GUNAWAN
-ARIEF RAMADHAN
-DIKA WAHYUDI BB
-KHAIRUN AL RASYID
-M RIDHO ANDRIANSYAH
-RIKI APRI PRATAMA
-REZI APRIANDI PANJAITAN
-SIGIT HENDARDI
-TAUFIQ RAMADHAN

KELAS: A-1 TEKNIK ELEKTRO

MATA KULIAH : SISTEM MIKRO KONTROLER

( SISTEM CAR ROBOT MENGGUNAKAN MODUL
BLUETOOTH DAN SENSOR ULTRASONIC )
BAHAN YANG DIGUNAKAN :
 ARDUINO UNO
 3 WHEEL / BAN MOTOR
 HC – 05 BLUETOOTH MODULE
 HC - sr04 ULTRASONIC SENSOR
 MALE TO FEMALE JUMPER CABLE
 L298D MOTOR DRIVER
 SWITCH ON / OFF
 3 BATTERY 3,7V
 CASE BATTERY
 LCD ( Opsional / Aksesoris )
 RANGKA MOBIL

CARA PEMBUATAN:
 RANGKAILAH RANGKAIAN SESUAI DENGAN GAMBAR

 GUNAKAN LAPTOP UNTUK MENGIRIM KODE PROGRAM

MENGGUNAKAN APLIKASI ARDUINO
  BUKA APLIKASI CAR CONTROLER DI HP

 SAMBUNGKAN BLUETOOTH HP KE HC – 05 BLUETOOTH

MODULE
 ROBOT CAR SIAP DIGUNAKAN
 ROBOT CAR AKAN MENGIKUTI PERINTAH DARI APLIKASI HP
 APLIKASI HP AKAN MENAMPILKAN JARAK DARI SENSOR
ULTRASONIC KE BENDA DIDEPANNYA SECARA REAL-TIME
NOTE: ROBOT CAR AKAN BERHENTI OTOMATIS KETIKA JARAK
BENDA DIDEPANNYA <30 CM UNTUK MENGHINDARI TABRAKAN
FLOWCHART

START

TIDAK
PERINTAH

IYA

MAJU KIRI KANAN MUNDUR

IYA
LANJUT

TIDAK A

TIDAK
STOP

IYA

A END
DIAGRAM BLOK

SENSOR

ULTRASONIC

HP / ANDROID

ARDUINO

BLUETOOTH

MODULE
KODE PROGRAM :

#include <SoftwareSerial.h>
#include "dht.h"
//#include <Wire.h>
#include <LiquidCrystal_I2C.h>
#define echopin A0 // echo pin
#define trigpin A1 // Trigger pin

SoftwareSerial BT(2, 3);

LiquidCrystal_I2C lcd(0x27,16,2);
#define dht_pin A5 // Pin sensor is connected to
dht DHT;

int motor2Pin1 = 6; // pin 6 on L293D IC

int motor2Pin2 = 7; // pin 7 on L293D IC
int motor2EnablePin = 10; // pin 10 on L293D IC

int motor1Pin1 = 4; // pin 4 on L293D IC

int motor1Pin2 = 5; // pin 5 on L293D IC
int motor1EnablePin = 9; // pin 9 on L293D IC

int state;
int Speed = 130;

int temp;
int hum;

int timer = 0;
int distanceFwd;
long duration;

int chk = 0;
int set = 35;

void setup() {
pinMode (trigpin, OUTPUT);
pinMode (echopin, INPUT );

pinMode(motor1Pin1, OUTPUT);
pinMode(motor1Pin2, OUTPUT);
pinMode(motor1EnablePin, OUTPUT);
pinMode(motor2Pin1, OUTPUT);
pinMode(motor2Pin2, OUTPUT);
pinMode(motor2EnablePin, OUTPUT);
// initialize serial communication at 9600 bits per second:
Serial.begin(9600);
BT.begin(9600); // Setting the baud rate of Software Serial Library
delay(500);
lcd.init();
lcd.backlight();
lcd.clear();
lcd.setCursor(0, 0);
lcd.print("IRI BILANG BOSSS");
}
void loop() {
//if some date is sent, reads it and saves in state
if(BT.available() > 0){
state = BT.read();
 Serial.println(state);
if(state > 10){
Speed = state;}
}

distanceFwd = data();

analogWrite(motor1EnablePin, Speed);
analogWrite(motor2EnablePin, Speed);

if((distanceFwd<set) && (chk==1)){chk = 2; Stop();}

if(distanceFwd>set){chk = 0;}

// if the state is '1' the DC motor will go forward

if ((state == 1) && (chk==0)){chk = 1; forword();Serial.println("Go Forward!");}

// if the state is '2' the motor will Reverse

else if (state == 2){backword();Serial.println("Reverse!");}

// if the state is '3' the motor will turn left

else if (state == 3){turnLeft();Serial.println("Turn LEFT");}

// if the state is '4' the motor will turn right

else if (state == 4){turnRight();Serial.println("Turn RIGHT");}

// if the state is '5' the motor will Stop

else if (state == 5) {Stop();Serial.println("STOP!");}

timer = timer+1;
if(distanceFwd>200){distanceFwd=200;}
if(timer>400){
DHT.read11(dht_pin);
hum = DHT.humidity;
temp = DHT.temperature;

BT.print(temp); //send distance to MIT App

BT.print(";");
BT.print(hum); //send distance to MIT App
BT.print(";");
BT.print(distanceFwd); //send distance to MIT App
BT.println(";");
timer=0;
}
delay(1);
}

void backword(){
digitalWrite(motor1Pin1, HIGH);
digitalWrite(motor1Pin2, LOW);
digitalWrite(motor2Pin1, LOW);
digitalWrite(motor2Pin2, HIGH);
}

void forword(){
digitalWrite(motor1Pin1, LOW);
digitalWrite(motor1Pin2, HIGH);
digitalWrite(motor2Pin1, HIGH);
digitalWrite(motor2Pin2, LOW);
}
void turnLeft(){
digitalWrite(motor1Pin1, LOW);
digitalWrite(motor1Pin2, HIGH);
digitalWrite(motor2Pin1, LOW);
digitalWrite(motor2Pin2, HIGH);
}

void turnRight(){
digitalWrite(motor1Pin1, HIGH);
digitalWrite(motor1Pin2, LOW);
digitalWrite(motor2Pin1, HIGH);
digitalWrite(motor2Pin2, LOW);
}

void Stop(){
digitalWrite(motor1Pin1, LOW);
digitalWrite(motor1Pin2, LOW);
digitalWrite(motor2Pin1, LOW);
digitalWrite(motor2Pin2, LOW);
}

long data()
{
digitalWrite(trigpin,LOW);
delayMicroseconds(2);
digitalWrite(trigpin,HIGH);
delayMicroseconds(10);
duration=pulseIn (echopin,HIGH);
return duration / 29 / 2; }